EP1219382A2 - Projecteur de rayon laser - Google Patents

Projecteur de rayon laser Download PDF

Info

Publication number: EP1219382A2
Authority: EP; European Patent Office
Prior art keywords: turning; optical head; laser beam; holding; beam projector
Prior art date: 2000-12-25
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.): Granted

Application number

EP01130660A

Other languages

German (de)

English (en)

Other versions

EP1219382A3 (fr

EP1219382B1 (fr

Inventor

Shigekazu Shikoda

Tetsuya Kubota

Hirotaka Uehara

Osamu Satoh

Tomoyuki Uno

Mamoru Nishio

Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)

Kawasaki Heavy Industries Ltd

Kawasaki Motors Ltd

Original Assignee

Kawasaki Heavy Industries Ltd

Kawasaki Jukogyo KK

Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)

2000-12-25

Filing date

2001-12-21

Publication date

2002-07-03

2001-12-21 Application filed by Kawasaki Heavy Industries Ltd, Kawasaki Jukogyo KK filed Critical Kawasaki Heavy Industries Ltd

2002-07-03 Publication of EP1219382A2 publication Critical patent/EP1219382A2/fr

2003-11-05 Publication of EP1219382A3 publication Critical patent/EP1219382A3/fr

2008-09-17 Application granted granted Critical

2008-09-17 Publication of EP1219382B1 publication Critical patent/EP1219382B1/fr

2021-12-21 Anticipated expiration legal-status Critical

Status Expired - Lifetime legal-status Critical Current

Images

Classifications

- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/06—Shaping the laser beam, e.g. by masks or multi-focusing
- B23K26/064—Shaping the laser beam, e.g. by masks or multi-focusing by means of optical elements, e.g. lenses, mirrors or prisms
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/08—Devices involving relative movement between laser beam and workpiece
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots

Definitions

the present invention relates to a laser beam projector. More specifically, the present invention relates to a laser beam projector capable of being incorporated into an automatic welding head held on the free end of a robot arm or the like and of projecting a laser beam accurately on a portion to be welded.
Butt welding using a laser beam is used prevalently for welding members in order to manufacture automobiles, etc.
CO 2 lasers have been replaced by YAG lasers capable of focusing a laser beam in a spot smaller than that which is formable by CO 2 lasers.
a welding process using a YAG laser capable of focusing a laser beam in a small spot is able to achieve fine welding using a small laser-beam spot.
fine welding requires forming the laser-beam spot at a groove in a positional accuracy on the order of 0.05 mm.
a laser beam machine described in JP-A 328867/1998 comprises a work table for holding a tensioned plate-shaped workpiece and axially moving the workpiece, a laser beam machining head including an optical focusing system for focusing a laser beam and capable of axial movement for focusing a laser beam on the workpiece, an upper workpiece holding member integrally provided with a laser beam projecting nozzle, a hollow, expansion connecting member interconnecting the laser beam machining head and the upper workpiece holding member such that the laser beam machining head and the upper workpiece holding member can be moved relative to each other for focusing the laser beam, and a lower stationary surface plate.
the workpiece is held between the upper workpiece holding member and the lower stationary surface plate at a position near a laser beam machining position.
This known laser beam machine moves the work table supporting the workpiece thereon to make the laser beam trace a desired path. Therefore, the laser beam machine is inevitably large and is subject to restrictions on the shape of the workpiece.
the present invention has been made in view of the foregoing problem and it is therefore an object of the present invention to provide a laser beam projector capable of being mounted on an automatic welding machine, such as a welding robot, of assisting the operation of the automatic welding machine and of projecting a laser beam on a portion to be welded in a high accuracy.
a laser beam projector comprising: an optical head of projecting a laser beam; and a holding-turning mechanism of holding and turning the optical head.
holding-turning mechanism holds the optical head so that the optical head is able to turn about an axis passing a center of gravity of the optical head.
the holding-turning mechanism includes a first holding-turning unit of turning the optical head in a direction perpendicular to a weld line and a second holding-turning unit of turning the optical head in a direction of the weld line.
the holding-turning mechanism includes a turning link mechanism of transmitting a driving force to the optical head in order to turn the optical head.
the optical head may be a head which emits a YAG laser beam.
the optical head may be mounted on a robot arm, and so on.
the laser beam projector S is attached to the extremity of a robot arm RA of a robot R to irradiate a weld zone accurately with a laser beam in cooperation with the motion of the robot arm.
the laser beam projector S includes, as essential components, an optical head 10 provided with a YAG laser that emits a laser beam, and a holding-turning mechanism 20 capable of holding and turning the optical head 10 thereon.
the optical head 10 has a shape substantially resembling a stepped cylinder. A laser beam emitted by the YAG laser is projected through a laser beam projecting end of the optical head 10 on a workpiece.
the optical head 10 is the same in configuration as an optical head included in a known YAG laser beam projector and hence the detailed description thereof will be omitted.
a pair of shafts 11 are attached to parts of the cylindrical optical head 10 so as to extend in opposite directions, respectively, with their common axis passing the center of gravity of the optical head 10.
the holding-turning mechanism 20 turns the optical head 10 on the shafts 11.
the optical head 10 is held by the holding-turning mechanism 20 with its laser beam projecting end facing down.
the holding-turning mechanism 20 includes a turning frame 21 supporting the optical head 10, a holding frame 22 pivotally supporting the turning frame 21, a turning mechanism 23 including a motor 24 and a turning link mechanism 23A, and a joining member 25 joined to the holding frame 22.
a flange, not shown, formed integrally with the joining member 25 is fastened to a flange, not shown, attached to the extremity of the robot arm with bolts and nuts.
the turning frame 21 is formed by joining the free ends of opposite side parts of a U-shaped member 21a to the opposite ends of a semicircular member 21b.
the optical head 10 is supported on the turning frame 21 with the shafts 11 fixedly extended through the opposite side parts of the U-shaped member 21a.
the holding frame 22 is a U-shaped frame formed by joining plate-shaped side members 22b to the opposite ends of a semicircular member 22a.
the radius of curvature of the semicircular member 22a is greater than that of the semicircular member 21b.
the turning frame 21 is surrounded by the holding frame 22.
the respective semicircular members 21b of the turning frame 21 and 22a of the holding frame 22 are on the same side with respect to the optical head 10.
the shafts 11 are supported for turning in bearings held on the plate-shaped members 22b of the holding frame 22.
the joining member 25 is, for example, a rectangular plate.
the opposite ends of the U-shaped holding frame 22 are joined to the opposite sides of a lower part of a surface of the joining member 25.
the motor 24 is fastened to an upper middle part of the front surface of the joining member 25.
the flange to be joined to the flange attached to the extremity of the robot arm is formed on the back surface of the joining member 25.
the turning link mechanism 23A of the turning mechanism 23 has one end pivotally joined to an axially movable drive shaft 24a included in the motor 24, and the other end pivotally joined to a joint 21c attached to the outer surface of a cross part extending between the opposite side parts of the U-shaped member 21a.
the motor 24 is driven to project the drive shaft 24a in the direction of the arrow A1 shown in Fig. 3
the turning link mechanism 23A is turned counterclockwise as viewed in Fig. 3. Consequently, the cross part of the U-shaped member 21a is pulled up in the direction of the arrow A2 and the optical head 10 is turned clockwise as viewed in Fig. 3, so that the laser beam projecting end of the optical head 10 is moved inward, i.e., toward the robot arm, as indicated by the arrow A3.
the optical head 10 Since the shafts 11 of the optical head 10 are supported in the bearings on the holding frame 22 as explained above, the optical head 10 is thus turned on the shafts 11 in a direction perpendicular to a weld line (groove) K shown in Fig. 1.
the reaction force that acts on the holding-turning mechanism 20, when the optical head 10 is turned is lower than the reaction force which will acts on a holding mechanism when an optical head is translated. Since the optical head 10 is supported by the shafts 11 having the common axis passing the center of gravity of the optical head 10 and the optical head 10 is turned about the common axis of the shafts 11, the moment of inertia of the optical head 10 is small and hence the reaction force that acts on the holding-turning mechanism 20 is lower.
the holding-turning mechanism 20 can be formed in a very small structure and easily attached to the robot arm.
a linear motion of the drive shaft 24a of the motor 24 is converted into a turning motion of the turning frame 21 by the turning link mechanism 23A without using any reduction gear. Therefore, the turning frame 21 can be turned without any lost motion, which may be caused by backlashes in a reduction gear, and, consequently, the accuracy of laser beam projection can be improved. Moreover, weaving laser beam welding can be achieved by periodically turning the optical head 10 alternately in opposite directions.
the laser beam projector has an optical head supported for turning about two axes perpendicular to each other.
a first turning frame 21 is supported by shafts 21d fixed thereto on a holding frame 22 such that the first turning frame 21 is able to turn about the common axis of the shafts 21d relative to the holding frame 22.
a second turning frame 26 is supported by shafts 26d fixed thereto on the first turning frame 21 such that the second turning frame 26 is able to turn about the common axis of the shafts 26d relative to the first turning frame 21.
the first turning frame 21 can be turned about the common axis of the shafts 21d by a first turning mechanism 23 including a first motor 24.
the second turning frame 26 can be turned about the common axis of the shafts 26d by a second turning mechanism 27 including a second motor 28.
the first turning frame 21, the holding frame 22 and the first turning mechanism 23 are similar to those of the laser beam projector S in the previous embodiment, respectively.
the second turning frame 26 is formed by joining the free ends of opposite side parts of a U-shaped member 26a to the opposite ends of a semicircular member 26b.
the second turning frame 26 is surrounded by the first turning frame 21.
the respective semicircular members 21b of the first turning frame 21 and 26b of the second turning frame 26 are on the same side with respect to the optical head 10.
the optical head 10 is supported on the second turning frame 26 with the shafts 26d fixedly extended through a middle part of the U-shaped member 26a and a middle part of the semicircular member 26b.
the shafts 26d are supported for turning in bearings held on the first turning frame 21.
the holding frame 22 is the same in construction as that included in the laser beam projector S in the previous embodiment.
the shafts 21d fixed to the side parts of the U-shaped member 21a of the first turning frame 21 are supported
the turning link mechanism 27A of the second turning mechanism 27 has one end joined to an axially movable drive shaft 28a included in the motor 28 by a ball joint, and the other end joined by a ball joint to a joint 26c attached to the outer surface of a cross part extending between the opposite side parts of the U-shaped member 26a.
the motor 28 is driven to project the drive shaft 28a in the direction of the arrow A1 shown in Figs. 5A and 5B
the turning link mechanism 27A pulls up the joint 26c attached to the cross part of the U-shaped member 26a in the direction of the arrow A2 shown in Figs. 5A and 5B, so that the optical head 10 is turned clockwise as viewed in Fig. 5B, so that the laser beam projecting end of the optical head 10 is moved in the direction of the arrow A3 shown in Fig. 5B.
the first turning mechanism 23 turns the optical head 10 in a direction perpendicular to a weld line (groove) K
the second turning mechanism 27 turns the optical head 10 in a direction of the weld line K.
the optical head 10 can be turned about two axes perpendicular to each other. Accordingly, the laser beam can be accurately projected on the groove even if the groove is curved in a complicated shape. Since the optical head 10 can be turned to make the laser beam projecting end of the optical head 10 perform a circular motion, complicated weaving operation is possible.
the first turning mechanism 23 of the previous embodiments may be provided, instead of the turning link mechanism 23A, with a turning link mechanism 23B formed by pivotally joining two links by a joint, and having one end fixed to the drive shaft 24a of the motor 24 and the other end pivotally joined to the joint 21c of the turning frame 21.
the second turning mechanism 27 of the previous embodiment may be provided, instead of the turning link mechanism 27A, with a turning link mechanism 27B formed by pivotally joining two links by a ball joint, and having one end fixed to the drive shaft 28a of the motor 28 and the other end pivotally joined by a ball joint to the joint 26c of the turning frame 26.
the turning direction of the optical head 10 when the drive shaft 24a (28a) is projected or retracted is opposite to the turning direction of the optical head 10 when using the turning link mechanism 23A (27B).
the spot of the laser beam can be accurately located on the portion to be welded by turning the optical head, and the reaction force that acts on the holding-turning mechanism when the optical head is thus turned to adjust the position of the laser beam on the workpiece is lower than the reaction force which will act on a holding mechanism when the optical head is translated for the same purpose.
weaving laser beam welding can be achieved by periodically turning the optical head alternately in opposite directions.
the optical head is rotatably supported at the position corresponding to the axis passing the center of gravity thereof, the moment of inertia is small and hence the reaction force that acts on the holding mechanism is further low.
the optical head of the laser beam projector in the preferred embodiment can be turned about the two axes perpendicular to each other in a direction perpendicular to the weld line and in a direction of the weld line, the spot of the laser beam can be further accurately located on the portion to be welded and complicated weaving operations can be achieved.
the turning frame can be turned without any lost motion which may be caused by backlashes in a reduction gear, and, consequently, the spot of the laser beam can be further accurately located on the portion to be welded.
the optical head in the preferred embodiment can be turned about two axes perpendicular to each other, the laser beam can be accurately projected on the groove even if the groove is curved in a complicated shape.

Landscapes

Physics & Mathematics (AREA)
Optics & Photonics (AREA)
Engineering & Computer Science (AREA)
Plasma & Fusion (AREA)
Mechanical Engineering (AREA)
Robotics (AREA)
Laser Beam Processing (AREA)
Laser Surgery Devices (AREA)

EP01130660A 2000-12-25 2001-12-21 Projecteur de rayon laser Expired - Lifetime EP1219382B1 (fr)

Applications Claiming Priority (2)

Application Number	Priority Date	Filing Date	Title
JP2000392079		2000-12-25
JP2000392079A JP3383832B2 (ja)	2000-12-25	2000-12-25	レーザ照射装置

Publications (3)

Publication Number	Publication Date
EP1219382A2 true EP1219382A2 (fr)	2002-07-03
EP1219382A3 EP1219382A3 (fr)	2003-11-05
EP1219382B1 EP1219382B1 (fr)	2008-09-17

Family

ID=18858125

Family Applications (1)

Application Number	Title	Priority Date	Filing Date
EP01130660A Expired - Lifetime EP1219382B1 (fr)	2000-12-25	2001-12-21	Projecteur de rayon laser

Country Status (6)

Country	Link
US (1)	US6747241B2 (fr)
EP (1)	EP1219382B1 (fr)
JP (1)	JP3383832B2 (fr)
KR (1)	KR100505817B1 (fr)
AT (1)	ATE408473T1 (fr)
DE (1)	DE60135820D1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number	Priority date	Publication date	Assignee	Title
EP2165795A4 (fr) *	2007-06-06	2014-01-22	Nitto Denko Corp	Procédé de traitement au laser et article traité au laser
CN110340523A (zh) *	2019-07-26	2019-10-18	深圳市海镭激光科技有限公司	一种智能连续光纤焊接机

Families Citing this family (19)

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US7180918B2 (en) *	2003-05-16	2007-02-20	Metal Improvement Company, Llc	Self-seeded single-frequency solid-state ring laser and system using same
US7110171B2 (en) *	2003-10-30	2006-09-19	Metal Improvement Company, Llc	Relay telescope including baffle, and high power laser amplifier utilizing the same
US7291805B2 (en) *	2003-10-30	2007-11-06	The Regents Of The University Of California	Target isolation system, high power laser and laser peening method and system using same
EP1528645B1 (fr) *	2003-10-30	2011-02-16	Metal Improvement Company, LLC.	Téléscope à Relais, amplificateur laser, et méthode d'irradiation par chocs laser et son dispositif
US7209500B2 (en) *	2003-10-30	2007-04-24	Metal Improvement Company, Llc	Stimulated Brillouin scattering mirror system, high power laser and laser peening method and system using same
US7750266B2 (en) *	2004-11-17	2010-07-06	Metal Improvement Company Llc	Active beam delivery system for laser peening and laser peening method
US7851725B2 (en)	2004-11-17	2010-12-14	Metal Improvement Company Llc	Active beam delivery system with image relay
US7718921B2 (en) *	2004-11-17	2010-05-18	Metal Improvement Company Llc	Active beam delivery system with variable optical path segment through air
US20070210046A1 (en) *	2006-03-07	2007-09-13	Jin-Sheng Lai	Roller adjusting device of optical laser-lens seat
KR100835614B1 (ko)	2007-02-05	2008-06-05	아메코 주식회사	복합가공기
DE102008058644A1 (de) *	2008-10-10	2010-04-15	Num Industry Alliance Ag	Schneidvorrichtung
DE102009029193A1 (de) *	2009-09-04	2011-03-17	Trumpf Werkzeugmaschinen Gmbh + Co. Kg	Laserbearbeitungsmaschine mit redundanten Achsen
US10072971B2 (en)	2010-04-16	2018-09-11	Metal Improvement Company, Llc	Flexible beam delivery system for high power laser systems
USD621864S1 (en) *	2010-05-20	2010-08-17	Emcore Corporation	Laser assembly
USD637637S1 (en) *	2010-06-11	2011-05-10	Emcore Corporation	Tunable Laser Assembly
JP5459256B2 (ja)	2011-04-08	2014-04-02	株式会社安川電機	ロボットシステム
CN102303186B (zh) *	2011-08-16	2013-09-04	江苏扬力数控机床有限公司	一种少自由度并联五轴数控激光切割机
USD745208S1 (en)	2013-02-12	2015-12-08	Neophotonics Corporation	Support for a beam splitter
CN103386553B (zh) *	2013-08-14	2016-03-23	常州市璟胜自动化科技有限公司	激光切割装置

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2000
- 2000-12-25 JP JP2000392079A patent/JP3383832B2/ja not_active Expired - Fee Related
2001
- 2001-12-18 US US10/020,190 patent/US6747241B2/en not_active Expired - Lifetime
- 2001-12-19 KR KR10-2001-0081332A patent/KR100505817B1/ko not_active Expired - Fee Related
- 2001-12-21 AT AT01130660T patent/ATE408473T1/de not_active IP Right Cessation
- 2001-12-21 EP EP01130660A patent/EP1219382B1/fr not_active Expired - Lifetime
- 2001-12-21 DE DE60135820T patent/DE60135820D1/de not_active Expired - Lifetime

Cited By (3)

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Publication number	Priority date	Publication date	Assignee	Title
EP2165795A4 (fr) *	2007-06-06	2014-01-22	Nitto Denko Corp	Procédé de traitement au laser et article traité au laser
US9566663B2 (en)	2007-06-06	2017-02-14	Nitto Denko Corporation	Laser processing method and land laser processed product
CN110340523A (zh) *	2019-07-26	2019-10-18	深圳市海镭激光科技有限公司	一种智能连续光纤焊接机

Also Published As

Publication number	Publication date
US20020079299A1 (en)	2002-06-27
US6747241B2 (en)	2004-06-08
EP1219382A3 (fr)	2003-11-05
JP3383832B2 (ja)	2003-03-10
EP1219382B1 (fr)	2008-09-17
DE60135820D1 (de)	2008-10-30
ATE408473T1 (de)	2008-10-15
KR100505817B1 (ko)	2005-08-03
KR20020052942A (ko)	2002-07-04
JP2002192378A (ja)	2002-07-10

Publication	Publication Date	Title
US6747241B2 (en)	2004-06-08	Laser beam projector
US6657156B2 (en)	2003-12-02	Laser welding method and laser welding apparatus
US9168610B2 (en)	2015-10-27	Laser apparatus for welding
KR960008697B1 (ko)	1996-06-29	레이저 가공 가능한 복합형 공작 기계
JP3380416B2 (ja)	2003-02-24	レーザ溶接装置
JPH06285660A (ja)	1994-10-11	レーザ溶接装置
WO2012146965A1 (fr)	2012-11-01	Appareil de soudage au laser et procédé de soudage au laser
CN100493813C (zh)	2009-06-03	激光加工机
JP2004306057A (ja)	2004-11-04	レーザ溶接装置
JP4688634B2 (ja)	2011-05-25	レーザ溶接方法とレーザ溶接装置
JP3499271B2 (ja)	2004-02-23	板材折曲げ加工方法
JP3352361B2 (ja)	2002-12-03	レーザ溶接方法および装置
JPH031117B2 (fr)	1991-01-09
JPH09248684A (ja)	1997-09-22	レーザ加工装置
JP2004130323A (ja)	2004-04-30	レーザ溶接装置およびレーザ溶接方法
JP3116481B2 (ja)	2000-12-11	光素子モジュールの組立装置
US6849820B2 (en)	2005-02-01	Preliminary assembly system and assembly method for vehicle body component parts
US20250296174A1 (en)	2025-09-25	Laser welding device
CN215091352U (zh)	2021-12-10	一种新型激光焊接装置
JPH11156574A (ja)	1999-06-15	レーザ溶接方法およびその装置
JP2005161377A (ja)	2005-06-23	溶接装置
JPH1190684A (ja)	1999-04-06	ブランク材の突き合わせ位置決め装置
JP2586565Y2 (ja)	1998-12-09	レーザー溶接加工装置
JPS60240396A (ja)	1985-11-29	パルス発振レ−ザ溶接装置
Stemmann	2006	Remote Welding with Solid State Lasers

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2002-08-14	RIN1	Information on inventor provided before grant (corrected)	Inventor name: NISHIO, MAMORU Inventor name: UNO, TOMOYUKI Inventor name: SATOH, OSAMU Inventor name: UEHARA, HIROTAKA Inventor name: KUBOTA, TETSUYA Inventor name: SHIKODA, SHIGEKAZU
2003-07-16	RIN1	Information on inventor provided before grant (corrected)	Inventor name: UNO, TOMOYUKI Inventor name: SATOH, OSAMU Inventor name: UEHARA, HIROTAKA Inventor name: SHIKODA, SHIGEKAZU Inventor name: KUBOTA, TETSUYA Inventor name: NISHIO, MAMORU
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